多功能巡检救援机器人系统设计及定位导航  

System Design,Navigation and Localization of a Multifunctional Inspection and Rescue Robot

作　　者：汪名飞[1] 丑武胜[1] 樊嘉欣 WANG Ming-fei;CHOU Wu-sheng;FAN Jia-xin(Research Institutes of Robotics,Beihang University,Beijing 100091,China)

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《机械设计与制造》2018年第11期233-236,240,共5页Machinery Design & Manufacture

基　　金：国家磁约束核聚变能发展研究专项子课题多功能巡检救援机器人系统关键技术研究(2012GB102006)

摘　　要：设计了一种针对核环境场合的多功能巡检救援机器人系统,可多通道远程遥操作执行巡检救援任务。结合机器人功能特性及作业要求,提出了一种适用于狭小多障碍环境下的不变姿态直角转弯电磁导航方法。通过EKF方法融合里程计和惯性测量单元,并以激光雷达数据为观测量,在ROS上采用FastSLAM方法实现了机器人基于多传感器的建图和定位。介绍了机器人的系统设计及其电磁导航、建图定位实现方法,并进行电磁导航巡线实验和同时定位,实验结果证明了导航算法和定位方法的可行性和正确性。A multifunctional inspection and rescue robot was designed to work under nuclear environment,which was able to be controlled remotely with multimodal for inspection and rescue tasks.In consideration of functional characteristics and operation requirement,we proposed a navigation method applied to narrow-space and multi-obstacle environment,which achieved right-angled turning without changing orientation.We achieved robot Simultaneous Localization and Mapping based on multi sensors under Robot Operating System,which fused information of inertial measurement unit and robot odometry using Extend Kalman Filter and chose lidar data as observation.it introduced system design,electromagnetic navigation and SLAM method of the robot.We conducted the line-tracking navigation and simultaneous localization experiment and the result verified their reliability and feasibility.

关 键 词：机器人 遥操作 电磁导航 多传感器定位 ROS SLAM 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]